12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added missing "Lie group" unit tests to Point2

release/4.3a0
Richard Roberts 2011-08-27 00:59:18 +00:00
parent 02b45d5186
commit ee6569db29
1 changed files with 18 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
gtsam/geometry/tests/testPoint2.cpp
View File

@ -21,6 +21,24 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
/* ************************************************************************* */
TEST(Point2, Lie) {
Point2 p1(1,2);
Point2 p2(4,5);
Matrix H1, H2;
EXPECT(assert_equal(Point2(5,7), p1.compose(p2, H1, H2)));
EXPECT(assert_equal(eye(2), H1));
EXPECT(assert_equal(eye(2), H2));
EXPECT(assert_equal(Point2(3,3), p1.between(p2, H1, H2)));
EXPECT(assert_equal(-eye(2), H1));
EXPECT(assert_equal(eye(2), H2));
EXPECT(assert_equal(Point2(5,7), p1.expmap(Vector_(2, 4.,5.))));
EXPECT(assert_equal(Vector_(2, 3.,3.), p1.logmap(p2)));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Point2, expmap) TEST( Point2, expmap)
{ {